| Title |
A Continuous Control Input Transformed VSS by Modified Boundary Layer Function for MIMO Uncertain Linear Plants |
| DOI |
https://doi.org/10.5573/ieie.2019.56.5.71 |
| Keywords |
variable structure system ; sliding mode control ; boundary layer function ; control input transformation VSS |
| Abstract |
In this note, a continuous control input transformation variable structure system by the fixed modified boundary layer function is presented for MIMO uncertain linear plants, as an alternative approach of [14] of the sliding surface transformation VSS. Theoretically discontinuous and practically continuous control input transformed VSSs are proposed. The closed loop exponential stability together with the MIMO existence condition of the sliding mode on the predetermined sliding surface is investigated theoretically for the complete formulation of the VSS design. For practical applications, a continuous approximation of the discontinuous VSS is made by means of the modified boundary layer function. In addition, the closed loop bounded stability together with the MIMO existence condition of the sliding mode by the continuous VSS is analyzed. The discontinuity of the control input as the inherent property of the VSS is much improved in view of the practical aspects. Through a design example and simulation studies, the usefulness of the proposed discontinuous and continuous control input transformed VSS controller is verified. |